HaraldSchafer
cf466222f6
Road Roll Compensation Rebased ( #23251 )
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* first commit
* update refs
2021-12-16 17:34:12 -08:00
Ewout ter Hoeven
55390d273f
Convert format strings strings to f-strings ( #23241 )
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* Convert all text strings to f-strings
Reformats all the text from the old "%-formatted" and .format(...) format to the newer f-string format, as defined in PEP 498. This requires Python 3.6+.
Flynt 0.69 was used to reformat the strings. 120 f-strings were created in 51 files.
F-strings are in general more readable, concise and performant. See also: https://www.python.org/dev/peps/pep-0498/#rationale
* revert pyextra changes
* revert ublox.py
Co-authored-by: Willem Melching <willem.melching@gmail.com >
2021-12-16 14:58:17 +01:00
Willem Melching
4f1eb4278a
Log actuators after applying rate limits in CarController ( #23230 )
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* return actuators from carcontroller
* log it
* pass to latcontrol
* chrysler
* gm
* honda
* more brands
* rest of the brands
* gm cleanup
* hyundai cleanup
* update ref
* rename field
* fix subaru
* add types
* more subaru fixes #23240
* consistent whitespace
* bump cereal
2021-12-16 13:08:20 +01:00
Shane Smiskol
2799ef5292
Remove minSpeedCan ( #22991 )
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* Remove minCanSpeed
Remove minCanSpeed
* it actually only goes out to 2.5 seconds, this is okay to remove
* test to see if this preserves behavior
add minSpeedCan
* Revert "test to see if this preserves behavior"
This reverts commit 31b11f017f7e9da7654fc8064b5983d4a6cc22e5.
* preserve behavior (don't enter stopping as early)
* vEgoStopping needs to be less than or equal to vEgoStarting to avoid state oscillation
2021-12-14 12:09:32 -08:00
Adeeb Shihadeh
7f618b16bf
increase cruise mismatch threshold
2021-12-12 13:35:12 -08:00
Adeeb Shihadeh
8068df0b2a
alerts: escalate soft disable alert near disengagement ( #23198 )
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* alerts: escalate soft disable alert if resulted in disengagement
* show 0.5s before disengagement
2021-12-11 17:07:37 -08:00
Adeeb Shihadeh
07b971d473
alerts: handle min duration properly ( #23191 )
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* alerts: handle min duration properly
* add active
* tests
* cleanup test
* update refs
2021-12-10 19:20:07 -08:00
Adeeb Shihadeh
4627d201b6
alert text simplification ( #23186 )
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* alert text simplification
* little more
* user triggered
* little more
* less annoying ldw
* Update selfdrive/controls/lib/events.py
* update refs
* revert
2021-12-10 15:21:37 -08:00
Adeeb Shihadeh
45f3662cf0
alerts: add test for creation delay
2021-12-09 14:29:50 -08:00
Harald Schafer
44adea73ce
fix max speed comments
2021-12-08 17:13:43 -08:00
HaraldSchafer
c41a0cae4b
XVA long policy: prev_a becomes numpy anyway ( #23175 )
2021-12-08 16:06:09 -08:00
Harald Schafer
7e20fe7ca2
Long mpc: fix xva policy for sim
2021-12-08 15:42:30 -08:00
HaraldSchafer
d1b003c5d2
Cruise speed: up to 90mph max ( #23161 )
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* Cruise speed: up to 90mph max
* update ref
2021-12-07 15:47:57 -08:00
HaraldSchafer
77a99e7d6d
long planner: no reset when starting ( #23149 )
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* long planner: no reset when starting
* let go to 2m/s
* update ref
2021-12-06 23:10:16 -08:00
Harald Schafer
9afc95474d
add a change cost
2021-12-06 16:17:11 -08:00
HaraldSchafer
0dcdf9c30f
Long policy: strictly squared stopped equivalence function ( #23118 )
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* new ref
* never let lead stopped equivalence go down
* no overbraking
* stricter again
* cleanup
* updated refs
2021-12-03 16:12:30 -08:00
Willem Melching
bbd0f94d9d
add desired angle to log ( #23115 )
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* add desired angle to log
* update ref
* bump cereal
2021-12-03 21:35:34 +01:00
HaraldSchafer
5b0e10ea33
Reaction buffer on follow distance ( #23112 )
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* Reaction time buffer
* new ref
2021-12-02 23:56:02 -08:00
HaraldSchafer
46fd5892bf
Human inspired follow distance ( #22937 )
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* Add cost for creep
* more reasonable cost
* seems better than before
* science tune
* more chill
* closer follow
* stopping takes some leeway
* better cruise
* needed to be cumsum all along
* jerk not even needed
* matches better
* 6 is too much
* add back
* a little extra buffer is good for badly tuned cars
* new refs
* refs again
2021-12-02 14:42:13 -08:00
Adeeb Shihadeh
3b367e6872
Newer sounds ( #23091 )
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* new prompt sound
* padding
* prompt distracted
* debug
* fix spelling
* lower min volume
* better volume at low speeds
* revert debug
* revert that
* fix tests
* update refs
Co-authored-by: Comma Device <device@comma.ai >
2021-12-02 00:28:25 -08:00
HaraldSchafer
68015f75ed
Set accel trajectory to a_ego when not engaged ( #23100 )
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* Set accel trajectory to a_ego when not engaged
* update ref
2021-12-01 23:12:11 -08:00
HaraldSchafer
8f3bc4872f
Less sensitive torque saturated warning ( #23003 )
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* Less sensetive torque saturated warning
* better comment
2021-12-01 13:53:42 -08:00
Adeeb Shihadeh
e679d05d9e
New sounds ( #22652 )
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* new engage/disengage + amp config
* first family
* cleanup audible alerts
* tici isn't special
* fix up debug cycle alerts
* these were better
* extend range
* use distracted sound
* log scaling
* getting closer
* slightly louder
* prompt
* update tests
* update refs
* fix c2 test
* resolve todo
* adjust tolerance
* revert for now
* should work
Co-authored-by: Comma Device <device@comma.ai >
2021-11-30 19:47:33 -08:00
HaraldSchafer
048cc3ac9f
Longcontrol : pid error should be 0 when plan is followed ( #23066 )
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* v_pid error should be 0 when plan is followed
* update ref
2021-11-29 15:22:02 -08:00
Shane Smiskol
113988ae31
longitudinal: only apply overshoot prevention when braking ( #22986 )
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* only if braking is desired
* use v_target to determine stopping
* more clear?
2021-11-29 11:29:32 +01:00
Shane Smiskol
93fd662adf
Clean up planner files ( #23031 )
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* clean up planner files
clean up planner files
* fix plant instance
2021-11-26 14:57:39 +01:00
Robbe Derks
4960578bdf
Tesla longitudinal control ( #22561 )
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* tesla long squashed changes
* fix no resume from stop
* try setting accel limits to 0 to remove jerk with fast switchover
* expand radard lookup tables
* bump merged panda submodule
2021-11-18 13:57:12 +01:00
Adeeb Shihadeh
2a72e2a514
add offroad alerts for car unrecognized ( #22934 )
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Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
Co-authored-by: Chris McCammon <chrismccammon123@gmail.com >
2021-11-17 20:29:00 -08:00
HaraldSchafer
24aadaf1f3
Lateral planner: lower max cost ( #22960 )
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* prevent ping pong when tuning is not so great
* update refs
2021-11-17 20:24:10 -08:00
Adeeb Shihadeh
5296ca8d73
improve crc camera error ( #22943 )
2021-11-16 22:57:22 -08:00
Adeeb Shihadeh
8d917b6702
more alert checks
2021-11-16 22:56:29 -08:00
HaraldSchafer
b3b45c8d29
Add cost to long plan change for smoother lag comp ( #22923 )
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* add plan changing cost
* fix compile
* set weights
* try this cost
* horizon problem
* looks pretty good
* update refs
* update refs
* smoother plan changes
2021-11-16 17:57:55 -08:00
Adeeb Shihadeh
d8a5c415cd
Revert "add offroad alerts for car unrecognized"
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This reverts commit fb1e8ce086
2021-11-16 13:31:10 -08:00
Adeeb Shihadeh
fb1e8ce086
add offroad alerts for car unrecognized
2021-11-16 13:30:33 -08:00
Adeeb Shihadeh
833399e941
alerts: make soft disables an orange alert ( #22925 )
2021-11-16 13:11:32 -08:00
Adeeb Shihadeh
3302239013
put cruiseMismatch event in logging only mode
2021-11-15 21:16:54 -08:00
Adeeb Shihadeh
5265c36de7
alert cleanup ( #22919 )
2021-11-15 16:14:31 -08:00
Adeeb Shihadeh
db92006dc0
CI: skip cruise mismatch check for can replays
2021-11-12 18:22:39 -08:00
HaraldSchafer
a04114f68c
Give car interface roll and pitch ( #22891 )
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* Give car interface roll and pitch
* fixup
* whitespace
2021-11-12 12:21:22 -08:00
Joost Wooning
89d0a52d16
cython wrapper for acados ( #22784 )
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* cython wrapper for acados
* fix building
* sconscript cleanup
* no cython numpy
* cleanup
* upgrade build script
* try without slices
* new acados commit
* c3 update acados libs
* c2 libs
* make faster
* undo profiling
* fix build
* somewhat faster
* tryout cost_set_slice
* Revert "tryout cost_set_slice"
This reverts commit d358d93a133270e4edab9e7c07ffb6f577c52bd6.
* cleanup
* undo t_renderer change
Co-authored-by: Comma Device <device@comma.ai >
2021-11-12 17:09:08 +01:00
Adeeb Shihadeh
e528e2e3e2
allow update snoozing ( #22876 )
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* allow update snoozing
* not immediately visible
* dismiss and close
* grey button
2021-11-11 15:32:25 -08:00
Adeeb Shihadeh
308219c5b1
alerts: use repeating warning2 sound for steerSaturated ( #22874 )
2021-11-11 11:55:34 -08:00
sshane
bdaea086f8
Longcontrol: do not clip vEgo to minSpeedCan ( #22832 )
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* fix tss2 slow reacceleration in sng
(should) preserve stopping behavior
add comments since it's confusing
fix
* Revert "fix tss2 slow reacceleration in sng"
This reverts commit 42abde0eb945d8bc5ad9b502d1d89b3e3dc16f8a.
* don't max(vEgo)
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com >
2021-11-11 13:24:38 +01:00
Adeeb Shihadeh
327464fb84
increase engagement alerts duration
2021-11-10 22:11:14 -08:00
Adeeb Shihadeh
035bc0c20f
controlsd: alert on cruise mismatch for >1s ( #22841 )
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* controlsd: alert on cruise mismatch for >1s
* bump cereal
* update refs
* bump allowed soundd cpu
* bump cereal
2021-11-10 13:01:42 -08:00
Adeeb Shihadeh
c5d6b85c90
alerts: use a single duration for sound, text, and HUD ( #22856 )
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* alerts: use a single duration for sound, text, and HUD
* little cleanup
* update refs
2021-11-10 11:54:12 -08:00
Adeeb Shihadeh
93ba52c76c
controlsd: optimize alert management ( #22846 )
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* controlsd: optimize alert management
* little cleanup
* dataclass is nice
* fix tests
* update refs
* sort by start frame
* update refs
Co-authored-by: Comma Device <device@comma.ai >
2021-11-10 10:54:18 -08:00
Jason Young
2006fff2b6
Fix momentary false blind spot alerts when changing lanes ( #22819 )
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* reset LaneChangeDirection after finishing
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com >
2021-11-10 17:21:36 +01:00
HaraldSchafer
35d6ed1014
ACADOS: partial condensing ( #22830 )
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* partial condense
* new refs
* new ref
* newerest refs
2021-11-09 19:29:55 -08:00
Adeeb Shihadeh
445a5aaca4
soundd: don't loop controls unresponsive sound infinitely ( #22839 )
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* soundd: don't loop controls unresponsive sound infinitely
* update tests
* actually fix
2021-11-09 16:58:21 -08:00
